Collaborative Control Method For Surgical Robot System Based On Optical Navigation And Force Interaction

The first decade of the21st century has witnessed that the tech of robotassisted surgery has become a hot research domain and widely applied invarious kinds of surgeries, but not for cranio-maxillofacial surgery. This isbecause the tissues and organs of the nidus there are quite complicated andeven manual surgery in this area is too risky.To apply robot in cranio-maxillofacial surgery is not an easy task, thisneeds an absolutely new control method to accommodate with all theproblems that may arise in the surgery. Thus we have proposed thecollaborative control method based on optical navigation and forceinteraction. This control strategy could not only help to arise the field sensefor the surgeon during operation, but also combine the advantages of thehigh precision of the robot and the irreplaceable high experience of thesurgeon. The main contents of this paper are as follows:Firstly, the desired surgical robot system was built using7-DOFmanipulator, optical navigation system and force interaction devices.Meanwhile the coordinate transformation equations were also figured out.To guarantee the motion precision, high-accuracy coordinates calibrationand precision optimization algorithms was also proposed.Secondly, impedance control and fuzzy control were adopted toexplore efficient human-robot collaborative control strategy. One of themost key algorithms in this control strategy was the force-velocity fuzzycontrol algorithm, the effectiveness and validity of which was verifiedthrough simulation using Matlab.Thirdly, a reasonable process planning method was also proposed to optimally realize the collaborative control method applied incranio-maxillofacial surgery. With the guidance of the process planning, anew control platform for the upper host computer was coded to achieve3different control modes and all the human-computer interaction procedurethrough the whole operation process.Finally, a new experimental surgical platform was set up to comparethe3different control modes: automatic motion mode, remote controlmode and collaborative mode. To achieve this, resin material with specialcross section was used to implement some simulative force-cuttingexperiments.The results of those tests proved that the feasibility of the technologyroutes of the3different motion control strategies. And the validity andessentiality of the collaborative strategy, also called H-R mode, was alsodemonstrated in this paper. The results of all the theoretical analysis and theexperiments would lay a good foundation for the appliance of the wholehuman-robot collaborative technology strategy in the realcranio-maxillofacial surgery.